Event-Triggered ℓ2-Optimal Formation Control with State-Estimation for Agents Modeled as LPV Systems

Publikationstyp
Conference Paper
Date Issued
2022-12
Sprache
English
Author(s)
Gebhardt, Gerald  
Saadabadi, Hamideh 
Werner, Herbert  
Institut
Regelungstechnik E-14  
TORE-URI
http://hdl.handle.net/11420/14629
Start Page
1740
End Page
1745
Citation
IEEE 61st Conference on Decision and Control (CDC 2022)
Contribution to Conference
IEEE 61st Conference on Decision and Control, CDC 2022  
Publisher DOI
10.1109/CDC51059.2022.9992894
Scopus ID
2-s2.0-85147043894
This paper proposes a distributed scheme with different estimators for the event-triggered formation control of polytopic homogeneously scheduled linear parameter-varying (LPV) multi-agent systems (MAS). Each agent consists of a time-triggered inner feedback loop and a larger event-triggered outer feedback loop to track a formation reference signal and reject input and output noise. If a local event-trigger condition is violated, the event-triggered outer feedback loop is closed through the communication network. The event-trigger condition is only based on locally available information. To design the controller, a synthesis problem is formulated as a linear matrix inequality of the size of a single agent under the assumption, that local estimators trigger intercommunication events with neighboring agents if the event-trigger condition is violated. The design procedure guarantees stability and bounded l 2 - performance. Furthermore, the estimators are interchangeable for a given controller. We compare in simulation zero-order hold, open-loop estimation, and closed-loop estimation strategies. Simulation trials are carried out with non-holonomic dynamic unicycles modeled as polytopic LPV systems.
DDC Class
620: Ingenieurwissenschaften